PCL库学习笔记（PCL Visualizer）

本文展示了PCL Visualizer的几种基本用法。代码的主体是点云库提供的源代码。由于其是由cmake进行编译，有输入参数的选择问题。为了方便VS的调试运行过程，将其中的输入接口进行了修改：

代码中学习到的几个知识点：

1、int main( int argc, char* argv[] ) 中arg和argv参数的含义；
参考博客：https://blog.csdn.net/dgreh/article/details/80985928
2、注意RGB合成的原理
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
				static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));

/* \author Geoffrey Biggs */

#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h>
// 帮助
void
printUsage(const char* progName)
{
   
   
	std::cout << "\n\nUsage: " << progName << " [options]\n\n"
		<< "Options:\n"
		<< "-------------------------------------------\n"
		<< "-h           this help\n"
		<< "-s           Simple visualisation example\n"
		<< "-r           RGB colour visualisation example\n"
		<< "-c           Custom colour visualisation example\n"
		<< "-n           Normals visualisation example\n"
		<< "-a           Shapes visualisation example\n"
		<< "-v           Viewports example\n"
		<< "-i           Interaction Customization example\n"
		<< "\n\n";
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
   
   
	//创建3D窗口并添加点云
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->setBackgroundColor(0, 0, 0);
	viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
	viewer->addCoordinateSystem(1.0);
	viewer->initCameraParameters();
	return (viewer);
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> rgbVis(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
   
   
	//创建3D窗口并添加点云	
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->setBackgroundColor(0, 0, 0);
	pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
	viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
	viewer->addCoordinateSystem(1.0);
	viewer->initCameraParameters();
	return (viewer);
}

boost::shared_ptr<pcl::visualization::PCLVisualizer> customColourVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
   
   
	//创建3D窗口并添加点云
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->setBackgroundColor(0, 0, 0);
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0);
	viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "sample cloud");
	viewer->setPointCloudRenderingProperties(pc